version: 66.06
glider: 139
mission: 8
dive: 686
start: 10 16 110 1 53 11
data:
$ID,139
$MISSION,8
$DIVE,686
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2165647.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1530
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,014656,2109.143,-15803.300,11,1.6,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.7
$GPS2,015251,2109.163,-15803.418,13,1.6,13,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,113.5,2796,-16.6,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.75,0.000,2,0.000,0.000,426,1506,2762,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.5,12,110,12.68,2.40,-6.47,0.000,4,0.133,0.031,2783,2953,3108,0,0,0,0,0,0
$GC,136,-0.56,-116.8,16.7,-24.3,21,143,0.60,2.47,0.00,0.000,6,0.067,0.034,2925,1530,3110,0,0,0,0,0,0
$GC,347,-0.66,-116.8,33.9,-7.6,61,351,0.00,2.28,0.00,0.000,4,0.000,0.046,2925,225,3111,0,0,0,0,0,0
$GC,394,-0.80,-116.8,37.7,-7.8,64,400,0.20,2.17,0.00,0.000,6,0.026,0.018,2846,1594,3111,0,0,0,0,0,0
$GC,656,-0.74,-116.8,66.4,-11.3,85,658,0.20,0.00,0.00,0.000,6,0.079,0.000,2889,1594,3112,0,0,0,0,0,0
$GC,908,-0.81,-116.8,83.3,-4.3,105,912,0.00,2.35,0.00,0.000,4,0.000,0.044,2889,232,3112,0,0,0,0,0,0
$GC,954,-0.92,-116.8,85.7,-4.7,108,961,0.15,2.15,0.00,0.000,6,0.028,0.018,2831,1603,3113,0,0,0,0,0,0
$GC,1219,-0.92,-116.8,108.5,-9.9,129,1223,0.00,2.20,0.00,0.000,4,0.000,0.021,2830,2955,3113,0,0,0,0,0,0
$GC,1233,-0.92,-116.8,110.7,-10.3,130,1237,0.00,2.42,0.00,0.000,6,0.000,0.031,2830,1518,3113,0,0,0,0,0,0
$GC,1492,-0.92,-116.8,136.6,-9.6,150,1496,0.00,2.20,0.00,0.000,4,0.000,0.044,2830,229,3114,0,0,0,0,0,0
$GC,1574,-0.92,-116.8,145.2,-9.7,156,1578,0.00,2.12,0.00,0.000,6,0.000,0.018,2830,1588,3115,0,0,0,0,0,0
$GC,1835,-0.92,-116.8,167.1,-7.8,176,1839,0.00,2.30,0.00,0.000,4,0.000,0.044,2830,238,3114,0,0,0,0,0,0
$GC,1864,-0.92,-116.8,169.5,-8.0,178,1868,0.00,2.08,0.00,0.000,6,0.000,0.018,2830,1593,3115,0,0,0,0,0,0
$GC,2125,-0.96,-116.8,186.6,-7.0,198,2129,0.00,2.33,0.00,0.000,4,0.000,0.045,2830,232,3115,0,0,0,0,0,0
$GC,2181,-0.96,-116.8,191.3,-8.6,202,2185,0.00,2.12,0.00,0.000,6,0.000,0.019,2831,1589,3115,0,0,0,0,0,0
$GC,2445,-1.00,-116.8,210.3,-6.6,218,2450,0.00,2.33,0.00,0.000,4,0.000,0.046,2830,232,3115,0,0,0,0,0,0
$GC,2493,-1.00,-116.8,213.7,-6.8,220,2497,0.00,2.12,0.00,0.000,6,0.000,0.019,2830,1585,3115,0,0,0,0,0,0
$GC,2820,-1.04,-116.8,235.1,-7.2,236,2824,0.00,2.33,0.00,0.000,4,0.000,0.046,2831,238,3115,0,0,0,0,0,0
$GC,2867,-1.08,-116.8,239.3,-8.8,238,2871,0.00,2.10,0.00,0.000,6,0.000,0.020,2830,1582,3114,0,0,0,0,0,0
$GC,3200,-1.14,-116.8,266.6,-8.1,254,3205,0.12,2.35,0.00,0.000,4,0.061,0.048,2785,237,3114,0,0,0,0,0,0
$GC,3215,-1.14,-116.8,268.1,-7.9,254,3222,0.00,2.12,0.00,0.000,6,0.000,0.021,2785,1579,3114,0,0,0,0,0,0
$GC,3532,-1.11,-116.8,297.8,-9.1,270,3537,0.12,2.17,0.00,0.000,4,0.093,0.025,2813,2899,3113,0,0,0,0,0,0
$GC,3547,-1.11,-116.8,299.2,-8.3,270,3554,0.00,2.33,0.00,0.000,6,0.000,0.035,2812,1537,3113,0,0,0,0,0,0
$GC,3861,-1.14,-116.8,320.7,-6.8,279,3865,0.00,2.25,0.00,0.000,4,0.000,0.050,2812,234,3112,0,0,0,0,0,0
$GC,3890,-1.14,-116.8,323.1,-7.3,279,3895,0.00,2.05,0.00,0.000,6,0.000,0.022,2812,1527,3112,0,0,0,0,0,0
$GC,4232,-1.18,-116.8,351.5,-8.5,288,4236,0.00,2.25,0.00,0.000,4,0.000,0.051,2812,235,3110,0,0,0,0,0,0
$GC,4256,-1.18,-116.8,353.6,-8.7,288,4259,0.00,2.05,0.00,0.000,6,0.000,0.024,2812,1519,3110,0,0,0,0,0,0
$GC,4602,-1.22,-116.8,375.6,-5.6,297,4607,0.12,2.25,0.00,0.000,4,0.064,0.052,2771,235,3108,0,0,0,0,0,0
$GC,4645,-1.14,-116.8,378.8,-7.9,297,4651,0.15,2.08,0.00,0.000,6,0.090,0.024,2804,1540,3107,0,0,0,0,0,0
$GC,4978,-1.14,-116.8,397.2,-5.9,306,4982,0.00,2.25,0.00,0.000,4,0.000,0.028,2804,2900,3105,0,0,0,0,0,0
$GC,5038,-1.24,-116.8,400.8,-6.0,307,5043,0.10,2.33,0.00,0.000,6,0.074,0.039,2768,1532,3104,0,0,0,0,0,0
$GC,5354,-1.19,-116.8,426.6,-8.8,315,5356,0.10,0.00,0.00,0.000,6,0.105,0.000,2789,1533,3102,0,0,0,0,0,0
$STATE,5634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5634,begin apogee
$GC,5641,-0.31,0.0,450.3,8.6,322,5741,0.90,0.00,96.90,0.837,6,0.068,0.000,2982,1487,2630,0,0,0,0,0,0
$STATE,5742,end apogee,CONTROL_FINISHED_OK
$STATE,5742,begin climb
$GC,5745,1.18,116.8,453.3,0.0,324,5860,1.45,2.38,101.88,0.821,4,0.037,0.028,3315,2872,2152,0,0,0,0,0,0
$GC,5932,1.02,147.6,451.0,6.5,329,5965,0.22,2.40,27.52,0.785,6,0.099,0.041,3272,1510,2028,0,0,0,0,0,0
$GC,6297,0.89,147.6,422.3,8.0,338,6302,0.15,2.30,0.00,0.000,4,0.105,0.030,3243,2871,2019,0,0,0,0,0,0
$GC,6421,0.90,150.4,413.4,7.8,340,6425,0.00,2.42,0.00,0.000,6,0.000,0.044,3242,1495,2018,0,0,0,0,0,0
$GC,6758,0.87,164.9,388.6,7.2,349,6779,0.00,2.40,14.55,0.750,4,0.000,0.030,3242,2862,1956,0,0,0,0,0,0
$GC,6846,0.88,176.5,382.2,7.4,350,6863,0.00,2.40,11.85,0.720,6,0.000,0.044,3242,1501,1910,0,0,0,0,0,0
$GC,7181,0.85,183.3,356.6,7.6,359,7193,0.00,2.30,6.85,0.637,4,0.000,0.060,3242,244,1881,0,0,0,0,0,0
$GC,7222,0.76,183.3,352.8,9.5,359,7228,0.15,2.05,0.00,0.000,6,0.106,0.028,3214,1486,1879,0,0,0,0,0,0
$GC,7555,0.94,289.9,339.8,3.1,368,7652,0.17,0.00,94.72,0.780,6,0.059,0.000,3261,1487,1448,0,0,0,0,0,0
$GC,7964,0.94,289.9,297.8,10.8,378,7968,0.00,2.25,0.00,0.000,4,0.000,0.059,3261,236,1440,0,0,0,0,0,0
$GC,8061,0.85,289.9,285.0,13.0,382,8066,0.12,2.08,0.00,0.000,6,0.104,0.028,3237,1503,1436,0,0,0,0,0,0
$GC,8384,0.92,302.8,255.5,7.3,398,8401,0.00,2.35,10.57,0.643,4,0.000,0.058,3237,232,1394,0,0,0,0,0,0
$GC,8466,0.92,302.8,248.9,8.9,401,8470,0.00,2.10,0.00,0.000,6,0.000,0.027,3237,1509,1392,0,0,0,0,0,0
$GC,8788,0.98,303.7,224.8,7.9,417,8793,0.12,2.28,0.00,0.000,4,0.067,0.056,3275,232,1391,0,0,0,0,0,0
$GC,8859,0.89,303.7,217.0,11.5,420,8864,0.15,2.05,0.00,0.000,6,0.096,0.026,3245,1504,1389,0,0,0,0,0,0
$GC,9186,0.97,326.1,191.4,6.9,439,9215,0.00,2.33,20.73,0.639,4,0.000,0.054,3245,241,1299,0,0,0,0,0,0
$GC,9256,0.98,332.6,186.7,7.6,443,9268,0.00,2.08,6.72,0.530,6,0.000,0.025,3245,1516,1274,0,0,0,0,0,0
$GC,9529,1.05,332.6,165.9,8.5,465,9531,0.15,0.00,0.00,0.000,6,0.058,0.000,3290,1516,1272,0,0,0,0,0,0
$GC,9782,1.05,332.6,140.2,10.2,485,9787,0.00,2.25,0.00,0.000,4,0.000,0.052,3290,235,1272,0,0,0,0,0,0
$GC,9856,0.97,332.6,131.2,11.1,490,9865,0.10,2.05,0.00,0.000,6,0.073,0.024,3264,1495,1270,0,0,0,0,0,0
$GC,10120,1.03,332.6,108.1,8.7,511,10124,0.00,2.20,0.00,0.000,4,0.000,0.051,3264,235,1270,0,0,0,0,0,0
$GC,10185,1.03,332.6,101.4,9.8,516,10189,0.00,2.00,0.00,0.000,6,0.000,0.023,3264,1493,1269,0,0,0,0,0,0
$GC,10458,1.13,351.9,81.3,7.0,537,10486,0.15,2.25,17.70,0.532,4,0.056,0.048,3311,235,1194,0,0,0,0,0,0
$GC,10525,1.07,351.9,74.0,12.5,541,10533,0.10,2.08,0.00,0.000,6,0.068,0.021,3285,1519,1191,0,0,0,0,0,0
$GC,10790,1.19,379.2,55.5,6.7,562,10820,0.10,2.25,23.80,0.514,4,0.074,0.020,3322,2872,1083,0,0,0,0,0,0
$GC,10846,1.27,380.4,50.7,7.8,565,10852,0.00,2.40,0.00,0.000,6,0.000,0.035,3321,1500,1083,0,0,0,0,0,0
$GC,11108,1.27,380.4,26.9,10.2,590,11115,0.00,2.25,0.00,0.000,4,0.000,0.049,3321,231,1083,0,0,0,0,0,0
$GC,11171,1.23,380.4,19.1,12.5,603,11177,0.00,2.03,0.00,0.000,6,0.000,0.020,3322,1510,1080,0,0,0,0,0,0
$STATE,11333,end climb,SURFACE_DEPTH_REACHED
$STATE,11333,begin surface coast
$FINISH,0.9,1.003146
$STATE,11364,end surface coast,CONTROL_FINISHED_OK
$STATE,11364,begin surface
$SM_CCo,11386,25.70,0.472,0,0,957,410.14
$SM_GC,1.61,0.00,0.00,25.70,0.000,0.000,0.472,425,1510,957,-12.07,-0.57,410.14
$IRIDIUM_FIX,2059.45,-15806.34,090100,222226
$TT8_MAMPS,0.029146
$HUMID,61.69
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,64.301
$10V_AH,10.0,52.200
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.025,124.900,433.800,25.700,0.000,23.467,36.317,162.280,4.500,0.000,13.229,1260.716,7556.048,505.324,1893.891,546.414,0.000,1371.484,0.000,1877.620,0.000,29.253,0.000
$DEVICE_MAMPS,133.458,152.633,836.797,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.097,413.283,936.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34966,647
$CAP_FILE_SIZE,126785,0
$CFSIZE,260165632,175796224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161010,050437,2109.084,-15803.144,35,1.1,35,9.8